Class ConstantPath
Extends
Path
Public
Finds all nodes within a specified distance from the start.
This class will search outwards from the start point and find all nodes which it costs less than EndingConditionDistance.maxGScore to reach, this is usually the same as the distance to them multiplied with 1000.
The path can be called like: // Here you create a new path and set how far it should search.
ConstantPath cpath = ConstantPath.Construct(transform.position, 20000, null);
AstarPath.StartPath(cpath);
// Block until the path has been calculated. You can also calculate it asynchronously
// by providing a callback in the constructor above.
cpath.BlockUntilCalculated();
// Draw a line upwards from all nodes within range
for (int i = 0; i < cpath.allNodes.Count; i++) {
Debug.DrawRay((Vector3)cpath.allNodes[i].position, Vector3.up, Color.red, 2f);
}
When the path has been calculated, all nodes it searched will be stored in the variable ConstantPath.allNodes (remember that you need to cast it from Path to ConstantPath first to get the variable).
This list will be sorted by the cost to reach that node (more specifically the G score if you are familiar with the terminology for search algorithms). 
A* Pro Feature:
This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited.
The Pro version can be bought here
Public Methods
void
OnVisitNode
(
uint | pathNode | |
uint | hScore | |
uint | gScore | |
)
Public Static Methods
Vector3 | start | From where the path will be started from (the closest node to that point will be used). |
int | maxGScore | Searching will be stopped when a node has a G score (cost to reach the node) greater than this. |
OnPathDelegate | callback=null | Will be called when the path has been calculated, leave as null if you use a Seeker component. |
)
Constructs a ConstantPath starting from the specified point.
Searching will be stopped when a node has a G score (cost to reach it) greater or equal to maxGScore in order words it will search all nodes with a cost to get there less than maxGScore.
Public Variables
Contains all nodes the path found.
This list will be sorted by G score (cost/distance to reach the node).
Determines when the path calculation should stop.
This is set up automatically in the constructor to an instance of the Pathfinding.EndingConditionDistance class with a maxGScore is specified in the constructor.
Inherited Public Members
void
BlockUntilCalculated
()
Blocks until this path has been calculated and returned.
Normally it takes a few frames for a path to be calculated and returned. This function will ensure that the path will be calculated when this function returns and that the callback for that path has been called.
Use this function only if you really need to. There is a point to spreading path calculations out over several frames. It smoothes out the framerate and makes sure requesting a large number of paths at the same time does not cause lag.
Note
Graph updates and other callbacks might get called during the execution of this function.
Path p = seeker.StartPath (transform.position, transform.position + Vector3.forward * 10);
p.BlockUntilCalculated();
// The path is calculated now
bool
CanTraverse
(
)
Returns if the node can be traversed.
This by default equals to if the node is walkable and if the node's tag is included in enabledTags.
bool
CanTraverse
(
)
Returns if the path can traverse a link between from and to and if to can be traversed itself.
This by default equals to if the to is walkable and if the to's tag is included in enabledTags.
void
Claim
(
)
Increase the reference count on this path by 1 (for pooling).
A claim on a path will ensure that it is not pooled. If you are using a path, you will want to claim it when you first get it and then release it when you will not use it anymore. When there are no claims on the path, it will be reset and put in a pool.
This is essentially just reference counting.
The object passed to this method is merely used as a way to more easily detect when pooling is not done correctly. It can be any object, when used from a movement script you can just pass "this". This class will throw an exception if you try to call Claim on the same path twice with the same object (which is usually not what you want) or if you try to call Release with an object that has not been used in a Claim call for that path. The object passed to the Claim method needs to be the same as the one you pass to this method.
Current state of the path.
void
Error
()
Aborts the path because of an error.
Sets error to true. This function is called when an error has occurred (e.g a valid path could not be found).
void
FailWithError
(
)
Causes the path to fail and sets errorLog to msg.
uint
GetTagPenalty
(
int | tag | A value between 0 (inclusive) and 32 (exclusive). |
)
Returns penalty for the given tag.
float
GetTotalLength
()
Total Length of the path.
Calculates the total length of the vectorPath. Cache this rather than call this function every time since it will calculate the length every time, not just return a cached value.
uint
GetTraversalCost
(
)
Returns the cost of traversing the given node.
bool
IsDone
()
True if this path is done calculating.
Note
The callback for the path might not have been called yet.
See
Seeker.IsDone which also takes into account if the path callback has been called and had Modifiers applied.
Unity.Profiling.ProfilerMarker
MarkerOpenCandidateConnectionsToEnd = new Unity.Profiling.ProfilerMarker("OpenCandidateConnectionsToEnd")
Unity.Profiling.ProfilerMarker
MarkerTrace = new Unity.Profiling.ProfilerMarker("Trace")
void
OpenCandidateConnection
(
uint | parentPathNode | The node that is being opened. |
uint | targetPathNode | A neighbour of the parent that is being considered. |
uint | parentG | The G value of the parent node. This is the cost to reach the parent node from the start of the path. |
uint | connectionCost | The cost of moving from the parent node to the target node. |
uint | fractionAlongEdge | Internal value used by the TriangleMeshNode to store where on the shared edge between the nodes we say we cross over. |
Int3 | targetNodePosition | The position of the target node. This is used by the heuristic to estimate the cost to reach the end node. |
)
Opens a connection between two nodes during the A* search.
When a node is "opened" (i.e. searched by the A* algorithm), it will open connections to all its neighbours. This function checks those connections to see if passing through the node to its neighbour is the best way to reach the neighbour that we have seen so far, and if so, it will push the neighbour onto the search heap.
void
OpenCandidateConnectionBurst
(
)
Burst-compiled internal implementation of OpenCandidateConnection.
Compiling it using burst provides a decent 25% speedup. The function itself is much faster, but the overhead of calling it from C# is quite significant.
void
OpenCandidateConnectionsToEndNode
(
Int3 | position | Position of the path node that is being opened. This may be different from the node's position if PathNode.fractionAlongEdge is being used. |
uint | parentPathNode | Index of the path node that is being opened. This is often the same as parentNodeIndex, but may be different if the node has multiple path node variants. |
uint | parentNodeIndex | Index of the node that is being opened. |
uint | parentG | G score of the parent node. The cost to reach the parent node from the start of the path. |
)
Open a connection to the temporary end node if necessary.
The start and end nodes are temporary nodes and are not included in the graph itself. This means that we need to handle connections to and from those nodes as a special case. This function will open a connection from the given node to the end node, if such a connection exists.
It is called from the GraphNode.Open function.
Returns the state of the path in the pathfinding pipeline.
void
Release
(
System.Object | o | |
bool | silent=false | |
)
Reduces the reference count on the path by 1 (pooling).
Removes the claim on the path by the specified object. When the reference count reaches zero, the path will be pooled, all variables will be cleared and the path will be put in a pool to be used again. This is great for performance since fewer allocations are made.
If the silent parameter is true, this method will remove the claim by the specified object but the path will not be pooled if the claim count reches zero unless a non-silent Release call has been made earlier. This is used by the internal pathfinding components such as Seeker and AstarPath so that they will not cause paths to be pooled. This enables users to skip the claim/release calls if they want without the path being pooled by the Seeker or AstarPath and thus causing strange bugs.
bool
ShouldConsiderPathNode
(
)
True if this path node might be worth exploring.
This is used during a search to filter out nodes which have already been fully searched.
void
UseSettings
(
)
Copies the given settings into this path object.
IEnumerator
WaitForPath
()
Waits until this path has been calculated and returned.
Allows for very easy scripting. IEnumerator Start () {
var path = seeker.StartPath(transform.position, transform.position + transform.forward*10, null);
yield return StartCoroutine(path.WaitForPath());
// The path is calculated now
}
Callback to call when the path is complete.
This is usually sent to the Seeker component which post processes the path and then calls a callback to the script which requested the path
float
duration
How long it took to calculate this path in milliseconds.
bool
error
If the path failed, this is true.
See
errorLog
This is equivalent to checking path.CompleteState == PathCompleteState.Error
string
errorLog
Additional info on why a path failed.
Determines which heuristic to use.
float
heuristicScale = 1F
Scale of the heuristic values.
Constraint for how to search for nodes.
Holds the path as a GraphNode list.
These are all nodes that the path traversed, as calculated by the pathfinding algorithm. This may not be the same nodes as the post processed path traverses.
ushort
pathID
ID of this path.
Used to distinguish between different paths
int
searchedNodes
Number of nodes this path has searched.
int[]?
tagPenalties
Penalties for each tag.
Tag 0 which is the default tag, will get a penalty of tagPenalties[0]. These should only be non-negative values since the A* algorithm cannot handle negative penalties.
When assigning an array to this property it must have a length of 32.
Note
Setting this to null will make all tag penalties be treated as if they are zero.
If you are using a Seeker. The Seeker will set this value to what is set in the inspector field when you call seeker.StartPath. So you need to change the Seeker's value via script, not set this value.
Provides additional traversal information to a path request.
List<Vector3>
vectorPath
Holds the (possibly post-processed) path as a Vector3 list.
This list may be modified by path modifiers to be smoother or simpler compared to the raw path generated by the pathfinding algorithm.
Private/Protected Members
void
AddStartNodesToHeap
()
void
CalculateStep
(
)
Calculates the path until completed or until the time has passed targetTick.
Usually a check is only done every 500 nodes if the time has passed targetTick. Time/Ticks are got from System.DateTime.UtcNow.Ticks.
Basic outline of what the function does for the standard path (Pathfinding.ABPath). while the end has not been found and no error has occurred
pop the next node of the heap and set it as current
check if we have reached the end
if so, exit and return the path
open the current node, i.e loop through its neighbours, mark them as visited and put them on a heap
check if there are still nodes left to process (or have we searched the whole graph)
if there are none, flag error and exit
check if the function has exceeded the time limit
if so, return and wait for the function to get called again
void
Cleanup
()
Always called after the path has been calculated.
Guaranteed to be called before other paths have been calculated on the same thread. Use for cleaning up things like node tagging and similar.
string
DebugString
(
)
Returns a string with information about it.
More information is emitted when logMode == Heavy. An empty string is returned if logMode == None or logMode == OnlyErrors and this path did not fail.
void
DebugStringPrefix
(
PathLog | logMode | |
System.Text.StringBuilder | text | |
)
Writes text shared for all overrides of DebugString to the string builder.
void
DebugStringSuffix
(
PathLog | logMode | |
System.Text.StringBuilder | text | |
)
Writes text shared for all overrides of DebugString to the string builder.
int3
FirstTemporaryEndNode
()
void
MarkNodesAdjacentToTemporaryEndNodes
()
void
OnEnterPool
()
Called when the path enters the pool.
This method should release e.g pooled lists and other pooled resources The base version of this method releases vectorPath and path lists. Reset() will be called after this function, not before.
Warning
Do not call this function manually.
void
OnFoundEndNode
(
uint | pathNode | |
uint | hScore | |
uint | gScore | |
)
void
Prepare
()
Called before the path is started.
Called right before Initialize
void
PrepareBase
(
)
Prepares low level path variables for calculation.
Called before a path search will take place. Always called before the Prepare, Initialize and CalculateStep functions
void
Reset
()
Reset the path to default values.
Clears the allNodes list.
Also sets heuristic to Heuristic.None as it is the default value for this path type
void
ReturnPath
()
Calls callback to return the calculated path.
void
Setup
(
)
Sets up a ConstantPath starting from the specified point.
void
TemporaryEndNodesBoundingBox
(
)
void
Trace
(
)
Traces the calculated path from the end node to the start.
This will build an array (path) of the nodes this path will pass through and also set the vectorPath array to the path arrays positions. Assumes the vectorPath and path are empty and not null (which will be the case for a correctly initialized path).
int[]
ZeroTagPenalties = new int[32]
List of zeroes to use as default tag penalties.
Target to use for H score calculation.
bool
hasBeenReset
True if the Reset function has been called.
Used to alert users when they are doing something wrong.
Target to use for H score calculations.
int[]
internalTagPenalties
The tag penalties that are actually used.
Data for the thread calculating this path.